Animating chain driven vehicle with rigid bodies
I did it finally by hand:
Create one chain link. Calculate length of chain link by rigid number of elements around one wheel, e.g. 180° + 6 elements = rotate each element by 30°. Length = sin(30)*wheel_radius. Build it for both wheels, only for the outer half-circle.  Connect the open ends with chain-links between. Set all active (rigid body). Connect them with constraints. Use hinges (beware of direction -> hinge uses z-axis).

It is an easy way, but a little bit annoying for big chains.